Estimating and exploiting the degree of independent information in distributed data fusion

Double counting is a major problem in distributed data fusion systems. To maintain flexibility and scalability, distributed data fusion algorithms should just use local information. However globally optimal solutions only exist in highly restricted circumstances. Suboptimal algorithms can be applied in a far wider range of cases, but can be very conservative. In this paper we present preliminary work to develop distributed data fusion algorithms that can estimate and exploit the correlations between the estimates stored in different nodes in a distributed data fusion network. We show that partial information can be modelled as kind of “overweighted” Covariance Intersection algorithm. We motivate the need for an adaptive scheme by analysing the correlation behaviour of a simple distributed data fusion network and show that it is complicated and counterintuitive. Two simple approaches to estimate the correlation structure are presented and their results analysed. We show that significant advantages can be obtained

OSGAR: a scene graph with uncertain transformations

An important problem for augmented reality is registration error. No system can be perfectly tracked, calibrated or modeled. As a result, the overlaid graphics are not aligned perfectly with objects in the physical world. This can be distracting, annoying or confusing. In this paper, we propose a method for mitigating the effects of registration errors that enables application developers to build dynamically adaptive AR displays. Our solution is implemented in a programming toolkit called OSGAR. Built upon OpenSceneGraph (OSG), OSGAR statistically characterizes registration errors, monitors those errors and, when a set of criteria are met, dynamically adapts the display to mitigate the effects of the errors. Because the architecture is based on a scene graph, it provides a simple, familiar and intuitive environment for application developers. We describe the components of OSGAR, discuss how several proposed methods for error registration can be implemented, and illustrate its use through a set of examples

A tracker alignment framework for augmented reality

To achieve accurate registration, the transformations which locate the tracking system components with respect to the environment must be known. These transformations relate the base of the tracking system to the virtual world and the tracking system's sensor to the graphics display. In this paper we present a unified, general calibration method for calculating these transformations. A user is asked to align the display with objects in the real world. Using this method, the sensor to display and tracker base to world transformations can be determined with as few as three measurements

Autonomous Flight in Unknown Indoor Environments

http://multi-science.metapress.com/content/80586kml376k2711/This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are already commodities on ground vehicles, air vehicles seeking the same performance face unique challenges. In this paper, we describe the difficulties in achieving fully autonomous helicopter flight, highlighting the differences between ground and helicopter robots that make it difficult to use algorithms that have been developed for ground robots. We then provide an overview of our solution to the key problems, including a multilevel sensing and control hierarchy, a high-speed laser scan-matching algorithm, an EKF for data fusion, a high-level SLAM implementation, and an exploration planner. Finally, we show experimental results demonstrating the helicopter's ability to navigate accurately and autonomously in unknown environments.National Science Foundation (U.S.) (NSF Division of Information and Intelligent Systems under grant # 0546467)United States. Army Research Office (ARO MAST CTA)Singapore. Armed Force

Rofecoxib and cardiovascular adverse events in adjuvant treatment of colorectal cancer

Background Selective cyclooxygenase inhibitors may retard the progression of cancer, but they have enhanced thrombotic potential. We report on cardiovascular adverse events in patients receiving rofecoxib to reduce rates of recurrence of colorectal cancer. Methods All serious adverse events that were cardiovascular thrombotic events were reviewed in 2434 patients with stage II or III colorectal cancer participating in a randomized, placebo-controlled trial of rofecoxib, 25 mg daily, started after potentially curative tumor resection and chemotherapy or radiotherapy as indicated. The trial was terminated prematurely owing to worldwide withdrawal of rofecoxib. To examine possible persistent risks, we examined cardiovascular thrombotic events reported up to 24 months after the trial was closed. Results The median duration of active treatment was 7.4 months. The 1167 patients receiving rofecoxib and the 1160 patients receiving placebo were well matched, with a median follow-up period of 33.0 months (interquartile range, 27.6 to 40.1) and 33.4 months (27.7 to 40.4), respectively. Of the 23 confirmed cardiovascular thrombotic events, 16 occurred in the rofecoxib group during or within 14 days after the treatment period, with an estimated relative risk of 2.66 (from the Cox proportional-hazards model; 95% confidence interval [CI], 1.03 to 6.86; P = 0.04). Analysis of the Antiplatelet Trialists’ Collaboration end point (the combined incidence of death from cardiovascular, hemorrhagic, and unknown causes; of nonfatal myocardial infarction; and of nonfatal ischemic and hemorrhagic stroke) gave an unadjusted relative risk of 1.60 (95% CI, 0.57 to 4.51; P = 0.37). Fourteen more cardiovascular thrombotic events, six in the rofecoxib group, were reported within the 2 years after trial closure, with an overall unadjusted relative risk of 1.50 (95% CI, 0.76 to 2.94; P = 0.24). Four patients in the rofecoxib group and two in the placebo group died from thrombotic causes during or within 14 days after the treatment period, and during the follow-up period, one patient in the rofecoxib group and five patients in the placebo group died from cardiovascular causes. Conclusions Rofecoxib therapy was associated with an increased frequency of adverse cardiovascular events among patients with a median study treatment of 7.4 months’ duration. (Current Controlled Trials number, ISRCTN98278138.

Fast Relative Pose Calibration for Visual and Inertial Sensors

Accurate vision-aided inertial navigation depends on proper calibration of the relative pose of the camera and the inertial measurement unit (IMU). Calibration errors introduce bias in the overall motion estimate, degrading navigation performance- sometimes dramatically. However, existing camera-IMU calibration techniques are difficult, time-consuming and often require additional complex apparatus. In this paper, we formulate the camera-IMU relative pose calibration problem in a filtering framework, and propose a calibration algorithm which requires only a planar camera calibration target. The algorithm uses an unscented Kalman filter to estimate the pose of the IMU in a global reference frame and the 6-DoF transform between the camera and the IMU. Results from simulations and experiments with a low-cost solid-state IMU demonstrate the accuracy of the approach.